Mpu9250 stm32. 9軸センサMPU-9250 (GROVE-IMU 9DOFv2. Jan 7, 2022 · Trying to use MPU9250 IMU sensor with my STM32G431RB NUCLEO board. com/ShowMeTheWay/EntryX0/blob/master/QuadControlDev/pkg/appdrv/IMU/src/imu. 移植时使用了stm32的硬件I2C1. MEMS and Sensors. I2C is a dual-line communication . STM32小车开发板原理讲解（1）——单片机最小系统和A4950电机驱动，这是可以控制8个舵机和2个编码电机的STM32开发板. Feb 10, 2021 · MPU9250 MEMS Sensor Module. MPU9250 (GY-91) driver for STM32 with HAL using SPI - MPU9250/MPU9250. Dec 18, 2022 · the default I²C slave address of the MPU9250 is 0b1101000 (= 0x68 = 104) or 0b1101001 (= 0x69 = 105) depending on the value of pin AD0. Read the documentation. 效果：可以实时控制mpu9250芯片的yaw、pitch、row以及原始的陀螺仪、加速度计、磁力计 传感器数据。. Module Specification:1. Feb 12, 2019 · stm32の勉強用としてお家に生えてた落ちてたmpu9250をいじりだしたのですが、mpu9250をspiで使った例がなかったのでかきかきしてみようかと思います。 今回はstm32f411re(nucleo)とmpu9250(中華拡張ボードなんで詳細不明)を使っていきます。 Jan 8, 2022 · I used STM32’s newly G431 based G431RB Nucleo development kit. 12 移植. Makefile 1. The MPU9250 9-Axis Gyro Accelerator Magnetometer Module can provide acceleration, angle change and magnetic field on 3 axes x, y and z with high speed and accuracy. Bluetooth 2. > wrote: Hi kriswiner, I'm trying to implement the code you wrote for MPU9250BasicAHRS on my STM32 based Nucleo card. Model / Part Number: GY-91. The MPU-9250 supports I2C, up to 400 kHz, and SPI communication, up to 1 MHz for register setup and 20 MHz for data reading. com/DominikN/ESP32-MPU9250-web-viewVisualizing MPU9250 3D orientation data on the web page hosted by ESP32. 提示：硬件IIC/I2C 调试心得 文章目录 一、硬件配置 二、软件配置 三、读写流程 1. 2021/12/13. 自己设计的STM32开发板，可以用于制作各类智能车，这个板子能控制8个舵机和2个编码器电机，还自带MPU9250陀螺仪，时间有限先讲讲最小系统和 Low-power configurations for MPU9250. Calculating roll/pitch and yaw using accelerometer and the gyroscope without using magnetometer. 可用于mpu6500. 0. The MPU9250 has the needed pull-up and pull-down resistors for the I2C/SPI lines and the address select and the frame synchronization pin. zip 基于stm32和mpu9250的usb hid键盘、鼠标、游戏控制器\2个关于HID设备的规范. « Reply #1 on: February 20, 2023, 06:22:28 pm ». 头文件 2. 0V – 5. 程序的安装包、注册方法、操作步骤如下 一、安装教程（所有需要的软件、固件 MPU-9250. 实验步骤: 1 This register specifies the divider from the gyroscope output rate used to generate the Sample Rate for the MPU6050. #mpu9250 #imu #mbed #attitudeindicator #drone #flutter A quickstart guide for imu development using the mpu9250 sensor based on mbed. Feb 23, 2018 · I decided to break down this to smaller parts of modifying STM32 USB HID code, generated with STM32CubeMx. 按磁 Jan 14, 2019 · 项目：重力感应游戏控制器 开发平台：STM32+MPU9250. MPU9250 (GY-91) driver for STM32 with HAL using SPI - Issues · desertkun/MPU9250. To be specific, I configured SPI using STM32CubeMX and sampled Accelerometer and Gyroscope at 1 kHz. Update (31. i2c filter sensor gyroscope stm32 accelerometer imu spi sensor-fusion mpu9250 mpu6050 f401re. " 技术标签： STM32 嵌入式 stm32. pdfRegister map: https://invensense. stm32读取mpu9250九轴数据及四元数数据. UART5. Power Management. This component communicates with MPU9250 to get accelerometers and gyroscopes. 实验目的:通过精英 STM32 F103 开发板 与MPU9250传感器连接,测量九轴姿态值,实时在LCD屏上显示并输出到串口显示. /src - Source files for the library (. 以STM32F407为硬件平台，使用MPU9250结合mahony姿态融合算法，融合加速度计、磁力计、陀螺仪数据解算出表征姿态的四元数 - lynnllh/STM32 Feb 19, 2023 · Re: [STM32] MPU9250's magnetometer not updating data. ALIENTEK Product Attributes. Contribute to sonphambk/MPU9250 development by creating an account on GitHub. Hardware:S This project shows how to set up a communication between STM32 and MPU9250 over SPI. MPU-9250 is one of the most advanced combined accelerometer, gyroscope and compass small size sensors currently available. 2. 4%. Analog and Audio. MPU9250 signal acquisition circuit The MPU9250 and the control chip STM32 communicate via I2C. 但SPI接口调试磁力计依然受内部IIC限制，不过若只 Dec 10, 2021 · 2021/12/13. The STM32G431 is a quite impressive card. However, magnetometer gives constant values. 1、初始化. 上传只是希望更多的人开发九轴MPL库，然后可以多多交流学习。. STM32 HAL mpu9250 library. As the formula says Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV). There are four examples available. Internal 500Hz update rate2. 2、读取寄存器方法. For ease of use, I mounted the IMU sensor to the Nucle board with the plastic stand-offs I found. Stars. Usually The InvenSense MPU-9250 is a System in Package (SiP) that combines two chips: the MPU-6500 three-axis gyroscope and three-axis accelerometer; and the AK8963 three-axis magnetometer. 3V TOLERANT BREAKOUT BOARD. cIf yo May 9, 2022 · C library for STM32 using HAL with SPI and I2C support - MPU9250-STM32-HAL-libary/MPU9250. 389. pressure sensor) 3. 本项目是将MPU6050的 DMP5. Sensor fusion using a complementary filter yields sensor Euler angles and is implemented in both C and CPP. 基于官方库文件略作修改，可以直接用于STM32F1系列，使用gcc编译器 hal库* ( Middlewares\MPU6050_Motion_Driver\mpl\liblibmplmpu. The MPU9250 integrates an accelerometer, a gyroscope, and a magnetometer into a single small package. 二、MPU9250的操作（举例）. MPU9250MPL官方版本 已移植好STM32F407例程寄存器版（本人也成功移植到STM32F103上需要的请另外联系），能直接接上MPU9250使用，运行稳定后yaw角不漂移。. 4 Additional Features. 5mm (More compact than GY-80) Resolution: 16bit AD converter, 16-bit data output. Em cảm ơn mn nhiều !!! Jun 11, 2017 · 9DOF MPU9250 base on STM32 MCU. Jul 29, 2020 · 本文介绍了如何将 MPU9250 的 DMP 库移植到 STM32F1 平台，实现姿态角的计算和输出。文章提供了硬件连线，I2C 通信，DMP 库的修改和测试的详细步骤和代码，以及相关的参考资料和工程下载链接。 Based on my original library, the algorithms and IC communication has been ported for STM32 chips using HAL drivers. It replaces the popular MPU-9150 lowering the power consumption, improving gyro noise and compass full scale range performance. Hence, the MPU-9250 is a 9-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis […] MPU9250+ Kalman Filter + Madgwick Filter. GPL-3. The communication protocol of this module is I2C. h header and declare the following two enums: Include these two new function: Hence, the entire header file as following: In order to configure SPI to receive data using DMA, we need to enable RXDMA bit in CR2 register: Thats all for SPI section. 希望对大家有帮助 项目经过测试无误，可运行，数据无错误. The VCC will be connected with the 3. + Attitude indicator lik MPU9250 9-DOF MEMS Sensor Module interfaces with any microcontroller using an I2C bus. One die houses the 3-Axis gyroscope and the 3-Axis accelerometer. MPU9250 Module Pinout. It is my old GY-91's problem that makes me can not finish this lib. Arduino library for MPU9250 Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking™ Device Author: hideakitai. #4 opened on May 31, 2020 by Leterax. writeReg (USER_CTRL, 0b00000000) # I2C_MST_EN. Here is an example of a basic – default code, which turns out to be USB HID mouse, and a guide how to transform this code to keyboard. 前回 はポーリングでMPU9250とSPIでお話ししていました。. The MPU-9250 can be put into Accelerometer Only Low Power Mode using the following steps: Set CYCLE bit to 1 Set SLEEP bit to 0 Set TEMP_DIS bit to 1 Set DIS_XG, DIS_YG, DIS_ZG bits to 1. 大部分单片机IIC接口不是很好用，相信很多朋友在调试的时候踩过不少坑，而且由于IIC自身的限制，采样速率有时不足为用，所以被迫换为SPI接口。. scheme, which has two lines of SDA and SCL to tran smit data and clock signa ls respectively. 6V. DMA Configuration: C library for STM32 using HAL with SPI and I2C support - xtr0d3m0n/MPU9250-STM32-HAL-libary Datasheet MPU6050: https://invensense. /src/util - Source and headers for the MPU-9250 driver and dmp configuration. It has 170 MHz clok speed, built-in ST-Link chip and FPU unit. Jan 7, 2022 · 1) set the measurement mode to continuous 2) make sure you read the status register after the data registers, otherwise the data will never update. MPU Breakout Board Pin Teensy Pin /examples - Example sketches for the library (. 1、设置寄存器方法. Contribute to dql2016/stm32-usb-game-controller development by creating an account on GitHub. 资源浏览查阅47次。. It can now read data from MPU6050 (obvious), set interrupts for data ready and motion detection, read interrupts status, set custom data rate for data ready interrupt and set new gyro STM32 HID Mouse controlled using MPU9250. I2C using CPP; I2C using C; SPI using CPP (MPU9250 only) SPI using C (MPU9250 only) MPU9250在STM32单片机SPI通信接口下的初始化及九轴数据读取总结. Jul 11, 2015 · 1. It has some more features then my first library. USB Charge 基于stm32开发的usb hid 复合设备-键盘、鼠标、游戏pad，利用重力感应控制PC游戏。. I also used MPU9250 (probably made in China) as the IMU sensor. The high-performance IC has 16-bit resolution analog-to-digital Converters. - Ajay-Embed/MPU9250-STM32-F446RE KEEP IN MIND THE MPU9250 IS A 3. This repository demonstrates the usage of STM32F429ZI discovery board with lcd as USB-HID (mouse) which is controlled from MPU9250 acceleration meter part. Contribute to timagr615/stm32_mpu9250_i2c development by creating an account on GitHub. 0)を使用し、加速度、角速度、地磁気データを取得してみます。. ino). cpp, . now i disable the I2C master module. With its dedicated I2C sensor bus, the MPU9250 directly provides complete 9-axis MPU9250 9-axis IMU Library written in C for 32-bit ST Microcontrollers - talhaSr/mpu9250. Our customized learning pathways make us the perfect choice for those just starting out in the field. 4 – 3. 390. Compatibility. Support SD Card 3. STM8 MCUs. com/wp-content/uploads/2015/02/MPU-6000-Datasheet1. Using websockets and JSON to send Technical Specifications. STM32F4、MSP430部分未作修改. Example code was tested with the Sparkfun MPU9250 breakout board and Nucleo-F401RE dev board. Contribute to hussamaldean/STM32_HID_Mouse_controller_using_MPU9250 development by creating an account on GitHub. C library for STM32 using HAL with SPI and I2C support - MPU9250-STM32-HAL-libary/MPU9250. Visit the website to learn the Orientation Estimation using STM32 MCU and IMU s This is an example of how to read data from a mpu9255 via I2Chttps://github. 実はHALでは割り込みとDMAによるSPI通信が実装され Ajay-Embed / MPU9250-STM32-F446RE Public. Sensor Chips: MPU-9250 + BMP280. Enable DMA RX for SPI: Open spi. In addition, timer update interupt was used to control the sampling frequency. // Set DATA RATE of 1KHz by writing SMPLRT Jul 9, 2019 · The MPU9250 and the control chip STM32 communicat e via I2C. "Gyro noise performance is 3x better, and compass full scale range is over 4x better than competitive offerings. Feb 15, 2019 · STM32F411でDMAを使ってSPI通信する話 (MPU9250使用) 卒論発表を偵察しに行ったら、他学部の学生がずっと質問している 修羅場 場面に遭遇した中の人です。. The IMU's accelerometer and gyroscope are working fine. I have no problem reading the accel and gyro values, and May 10, 2020 · はじめに. This is an example of how to read data from a mpu9255 via I2Chttps://github. 3V pin from the ESP32 board. Our comprehensive range of courses covers everything from the basics of embedded systems to advanced real-time operating systems, networking, and communication, including the latest techniques in embedded AI. 4 forks Hence, the MPU9250 is a 9-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor™ (DMP) all in a small 3x3x1mm package available as a pin-compatible upgrade from the MPU6515. VDD supply voltage range of 2. 1固件库 移植到stm32。. library i2c esp32 spi mpu9150 esp-idf mpu9250 mpu6050 mpu9255 mpu6500 icm20948 mpu6000 mpu6555 Jun 20, 2023 · 1. Notifications Fork 2; Star 7. Where Gyroscope Output Rate is 8KHz, To get the sample rate of 1KHz, we need to use the SMPLRT_DIV as ‘7’. com/wp-content/uploads/2 Apr 13, 2018 · MPU9250九轴官方MPL库移植STM32F407例程. Assembly 0. …. - phonght32/stm32_mpu9250 Jul 19, 2016 · Introduction. MPU6050/MPU6500/MPU9250 - Gyroscope, Accelerometer, Temperature and Magnetometer (MPU9250 only) For other devices like STM32, please make sure you're using the Arduino library for MPU9250 Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking™ Device - hideakitai/MPU9250 May 31, 2020 · Extending to read from BMP-280. We will use the SPI interface for communication. Oct 17, 2015 · After MPU6050 library for STM32F4xx series only based on STM32F4xx Standard peripheral drivers, I’ve redesign this library for HAL support over all STM32 series. 0V (on-board low dropout regulator) Module size 14. On Fri, Jan 7, 2022 at 4:28 AM Ibrahim Ozdemir @. The DMP has three 16-bit resolution analog-to-digital Converters for the Jan 12, 2023 · This video is about reading the accelerometer and gyroscope data of the new ICM-20948 IMU sensor. Device Control. 将mpu9250读取角度的程序移植到了stm32f103上,方便测试原始数据是否正确。. Interface: standard IIC / SPI communications protocol. tdk. Step 2 – Create a new Arduino sketch and paste the codes below to it or open the code directly by the path: File -> Example ->IMU_9DOF_Demo_Compass_Calibrated MPU-9250 is a multi-chip module (MCM) consisting of two dies integrated into a single QFN package. If you use two MPU9250, you can differentiate them by using one with the first address and the other one with the other address by putting a logic LOW on the AD0 pin of the first MPU and a logic HIGH on the Feb 21, 2019 · https://github. g. 06. May 9, 2022 · C library for STM32 using HAL with SPI and I2C support - MPU9250-STM32-HAL-libary/MPU9250. The MPU-9250 includes the following additional f eatures: Auxiliary master I2C bus for reading data from external sensors (e. . Small update: I was just checking the WHOAMI's of th MPU and the AK. If you do not know how to install library on Arduino IDE, you can refer to this guide on How to install library for Arduino. 杜邦线. 三、MPU9250简单数据读取流程. com. 8%. また、データのばらつきや、データ取得にかかる時間など基礎的な評価を行います。. pdf C 97. STM32's component works on STM-IDF (STM32 Integrated Developement Framework). Oct 31, 2018 · 实验名称:MPU9250九轴姿态测量显示及串口输出实验. About. h). This replaces the popular EOL'd MPU-9150. i2c. The sensitive module also has a VDDIO, an inbuilt temperature sensor, and an auxiliary I2C May 2, 2022 · This video shows how to configure MPU6050 and read accelerometer measurements. 设备：电脑一台、stm32H743开发板一块。. 如果有任何疑问和建议 terminaterfxy@hotmail. The wiring table below was based on the pinout from a Teensy 4 board. Before using GY-91 module, please check weather your module MPU9250's WHO_AM_I register has the 434. The AK returned 0xC5, which is obviously wrong, but what's uncanny is that the MPU returned 0x75 instead of 0x71. 第二版，调试 0 – Z gyro is on. c at master · desertkun/MPU9250. 5. h at master · xtr0d3m0n/MPU9250-STM32-HAL-libary MPU9250. MPU-9250 – Accelerometer, Gyroscope, Magnetometer, 9 Axis Sensor I2C, SPI Output from TDK InvenSense. Motion Driver 6. - michalnowak061/STM32-F103-MPU9250-lib stm32f103读取MPU9250初始数据程序. InvenSense® lowered power consumption and decreased the size by 44% compared to the MPU-9150. 项目的代码上，是对很多人的 Saved searches Use saved searches to filter your results more quickly May 29, 2018 · stm32+mpu9250程序. Interface and Connectivity ICs. STM32L100 discovery board was used for test. 虽然牺牲了一定的芯片性能，但是的确是将整个写代码（主要是配置各个库、寄存器之类的）的流程给优化了。. 6 stars Watchers. STM32 MPUs. In this section, we will see how to use MPU9250 with ESP32. 基于mpu9250的磁力计算法，纯c语言，可移植多个平台，属于独立校准源代码，里面有旭泰的demo模板，校准数据可以是三维或者刘伟数据，当然，维度越高校准的数据的准确率越高。. 一、IIC协议操作MPU9250寄存器函数. Add function: void MPU9250_ReadData (MPU9250* mpu) v1. Step 1 – Download the IMU library from Github. You can do host or slave when connecting devices. 还不错！. 2020): see the latest project with STM32 Tank Dual开发板是一款专门为机器人项目开发的STM32多功能控制板，可以同时控制8个舵机和2个编码电机，板载MPU9250姿态传感器 388. a 为官方静态库，此处使用的适用于GCC-CM3，假如使用其他编译器替换该静态库并设置链接命令即可)*. i2c stm32 imu hal mpu9250 Resources. These include the VCC, GND, SCL, and SDA pins. I2C is a dual-line communication scheme, which has two lines of SDA and SCL to transmit data and clock signals respectively. MPU9250_ADDRESS = 0x68. 接上一篇： STM32CubeIDE HAL库操作IIC （一）配置篇. Readme Activity. MPU9250 full function driver library for general MCU and Linux. mpu9250地址更多下载资源、学习资料请访问CSDN文库频道. stm32 hal spi mpu9250 gy-91 STM32 MPU6050/9250 I2C and SPI interface. Run these from the Arduino IDE. 1 watching Forks. This library is compatible with all architectures so you should be able to use it on all the Arduino boards. Support GPS4. h at master · desertkun/MPU9250. zip 基于stm32和mpu9250的usb hid键盘、鼠标、游戏控制器\STM32CubeMX配置的PDF文档 . 本项目覆盖MPU9250的所有资料，包括文件，开发，寄存器，程序，甚至作者自己编写的开发教程丛书。. The other die houses the AK8963 3-Axis magnetometer from Asahi Kasei Microdevices Corporation. This module also features an embedded temperature sensor that can measure the temperature range between -40 to +85 degrees Celsius. Updated on Apr 27, 2022. I can read and it works perfectly reading the acc and gyro. 0 全速设备，通过I2C读取九轴姿态传感器-MPU9250（三轴加速度、三轴陀螺仪、三轴磁力计），使用高效 Jun 17, 2020 · Software. ST25 NFC/RFID Tags and Readers. I think magnetometers power mode is set to read-once or off. Contribute to hienvuvg/MPU9250-STM32 development by creating an account on GitHub. # 1 – Enable the I2C Master I/F module; pins ES_DA and ES_SCL are isolated from pins Low-power configurations for MPU9250. ProTip! Follow long discussions with comments:>50 . The MPU9250 is a 9-axis Motion Tracking device with a 3-axis accelerometer, 3-axis magnetometer, and a 3-axis gyroscope integrated into a small compact IC. Order today, ships today. 在MINIFLY里面都没有用到磁力计进行yaw轴数据获取，如果要 MPU9250 (GY-91) driver for STM32 with HAL using SPI - MPU9250/MPU9250_Config. 9DOF Library for STM32 F3 HAL Resources. Em có lên google search mà code bị lỗi nhiều quá, A/C có thể share code đọc được không ạ. 9DOF Library for STM32 F3 HAL. Em đang tìm hiểu cách đọc MPU9250 dùng stm32 mà chưa biết viết code để đọc như thế nào. 0/4. 源文件 写入一个字节 读取一个字节 发送一个数组 从PROM读出一个数组 总结 提示：以下是本篇文章正文内容，下面案例可供参考 一、硬件配置 上拉 2. stm32f103c8_mpu9250驱动程序，实现了DMP读取。. Releases stm32硬件-IIC/I2C. 3mm * 20. The bits mentioned in the steps (i) to (iii) can be found in Power Management 1 register (Register 107). The MPU-9250 is the latest 9-axis MEMS sensor from InvenSense®. Operating Voltage range: 3. 5mA operating current when all 9 motion sensing axes and the DMP are enabled. 2k MPU9250-via-SPI. Usually this interface is a two-way open drain interface. c at master · xtr0d3m0n/MPU9250-STM32-HAL-libary. Maintainer: hideakitai. Pricing and Availability on millions of electronic components from Digi-Key Electronics. 使用 STM32 CubeMX配置了Nucleo-L476RG，开发了USB HID复合设备用于体感游戏控制，板载STM32L476RG ARM核微控制器支持USB2. However, I did not understand what the problem was. Jul 8, 2019 · MPU6050或其他型号的陀螺仪设置的采样量程不一样，这个方差的阈值也要做相应的改变，比如如果陀螺仪量程设为+-2000时阈值设为1000合适，那么当你把量程设置为+-250的时候阈值可能要设置为100000才行。. Automotive Microcontrollers. 所使用的IDE是stm32cubeIDE，挺好用的。. Dec 13, 2017 · 以STM32为硬件平台使用MPU9250来进行九轴数据融合，使用到的传感器为陀螺仪、加速度计、磁力计，姿态融合算法采用的是mahony算法，最后静止时yaw角在1度以内跳动，本文的定位是一篇惯导的入门级说明书，仅以这几天的努力为后世之人做垫脚石。. cIf yo Saved searches Use saved searches to filter your results more quickly 3. h at master · xtr0d3m0n/MPU9250-STM32-HAL-libary The MPU9250 is a 9-axial Motion Tracking device with a 3-Dimensional gyroscope, 3-Dimensional magnetometer, and 3-Dimensional accelerometer embedded into an ultra-compact IC. I have a MPU-9250 connected via I2C to an intel edison arduino board (pins A4/A5). Readme License. 目录. Motor Control Hardware. We will connect 4 pins of the MPU9250 sensor with ESP32. 0 license 简介. 435. Join EmbeddedExpertIO and take the MPU9250 Digital Motion Processor is a multi-purpose processor introduced by Asahi Kasei Microdevices Corporation. MPU9250 (GY-91) driver for STM32 with HAL using SPI. Oct 1, 2022 · Main article: Reading MPU9250 sensors with Arduino. Now it can be used on stm32 through hal lib, please check more details in example/c8t6_mpu9250. Dec 6, 2021 · stm32 mpu6050 平衡车 61次下载; stm32-i2c总线通信与mpu6050 25次下载; stm32f1x上调试mpu6050的心得记录 6次下载; stm32获取mpu6050数据 48次下载; mpu6050常见问题的分析与处理 41次下载; mpu6050简介 67次下载; mpu9250芯片的相关资料合集免费下载 76次下载; stm32f1的mpu6050模块软件卡尔 Apr 13, 2022 · 该资源适用于毕业设计，内含三个资源 基于stm32和mpu9250的usb hid键盘、鼠标、游戏控制器\Nucleo-L476RG的测试工程源码 . Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface, All data fusion via EKF/UKF/CKF/SRCKF algorithm - suhetao/stm32f4_mpu9250 Libraries for STM32 (STM32F103C8T6) on pure CMSIS. 2. Library for handling the MPU9250 module (Gyroscope, Accelerometer, Magnetometer) and visualization app in Qt5. It has many advanced features, including 2. Saved searches Use saved searches to filter your results more quickly We would like to show you a description here but the site won’t allow us. The following selectable full scale We would like to show you a description here but the site won’t allow us. 实验效果: 实验材料: 精英STM32F103开发板 (含LCD屏) MPU9250指南针磁场传感器模块. cc fi jx zx jk oh jj ol zs fu